直线电机进给单元伺服刚度及其自适应控制

【作者】 罗勇；

【导师】 张伯霖；

【作者基本信息】 广东工业大学 ， 机械制造及自动化， 2001， 硕士

【摘要】 为了满足快速发展的超高速加工技术对高速进给运动的需要，机床进给运动开始采用直线电机零传动这一新型的进给传动方式。和滚珠丝杠进给系统相比，直线电机进给系统具有机械结构简单、速度高、加速度大、响应速度快以及定位精度高等优点，是机床进给传动方式的一场革命，正得到日益广泛的运用。 为了保持加工的稳定性，降低加工中的挑动力对加工质量的影响，充分利用直线电机直接驱动加工的高速和高响应特性，伺服控制系统在实现尽可能高的定位精度的同时，还必须具备足够高的伺服刚度。 本文主要研究直线电机进给系统的伺服刚度。论文首先针对直线电机进给系统伺服刚度的特点，提出了直线电机进给系统伺服刚度的定义和评价方法。在推导出直线电机进给系统控制模型后，利用MATLAB软件对模型进行了时域仿真，分析了控制系统结构、参数以及进给系统机械特性对直线电机伺服刚度的影响，然后设计了直线电机伺服动刚度实验方法，对仿真分析结果进行验证。在论文最后，针对加工中负载质量的变化对直线电机进给系统伺服刚度的影响，首此提出采用自适应控制原理对原控制系统进行优化的方法，并对这种方法进行了仿真。更多还原

【Abstract】 In order to meet requirements of the rapid-developing high speed cutting technology for high velocity feed, a newfashioned ero-transmission?feed system driven by linear motor had been developed. Compared with the conventional ball-screw feed system. linear motor feed system has outstanding characteristics, such as simple structure, high speed, high acceleration and high position accuracy. It is the revolution of machine tool feed system and will be used more and more widely.In order to maintain machining stability and reduce the effect of machining distrubance forces on the machining quality, exploite the high velocity and high response characteristics of linear motor drives in machining process, the servo control must achieve tracking performance as high as possible as well as rigid dynamic stiffiiess.The dissertation mainly disscusses the servo stiffness of linear motor drives. Firstly, the definition and evaluation method is brought forward since the servo stiffness of the linear motor drives takes on new features. secondly, the model of linear motor control system is given, a time-field simulation is performed using simulation software MATLAB&Simulink to evaluate the influence of control stmcture~ control parameters and mechanical characteristics on the feed drives dynamic servo stiffness. The simulation results are also verified by the dynamic stiffness experiment. To solve the problem caused by the change of moving mass during machining process, which will deteriorate the dynamic stiffness and servo performance of the linear motor driver, the adaptive control of the linear motor drive is discussed and simulation is also conducted.更多还原